Dmitry Kovalev / Mbed 2 deprecated LGfiltr

forkd

Dependencies:   mbed

Fork of LGstaandart by Dmitry Kovalev

Global.c@215:b58b887fd367, 2017-08-29 (annotated)

Committer:
Kovalev_D
Date:
Tue Aug 29 06:33:08 2017 +0000
Revision:
215:b58b887fd367
Parent:
214:4c70e452c491
Child:
216:189b0ea1dc38
dcd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "Global.h"
igor_v 0:8ad47e2b6f00 2
Kovalev_D 89:a0d344db227e 3 unsigned int VibroReg = 0; //регистр состаяния вибропривода.
Kovalev_D 89:a0d344db227e 4 unsigned long Global_Time, Time_UART,Time_Sec,Time_vibro,Time_1kHz;
Kovalev_D 197:7a05523bf588 5 float t1;
Kovalev_D 89:a0d344db227e 6 unsigned char BuffTemp[100];
Kovalev_D 197:7a05523bf588 7 unsigned char Time[1000];
Kovalev_D 86:398da56ef751 8 unsigned int Event1Hz;
Kovalev_D 208:19150d2b528f 9 unsigned int Event100Hz;
Kovalev_D 209:224e7331a061 10 unsigned int Event250Hz;
Kovalev_D 124:9ae09249f842 11 unsigned int Event500Hz;
Kovalev_D 203:3a6615de9581 12 unsigned int Event1K;
Kovalev_D 214:4c70e452c491 13 unsigned int Event1250Hz;
Kovalev_D 209:224e7331a061 14 unsigned int Event2K;
Kovalev_D 88:b5c1d9d338d1 15 unsigned int Event100K;
Kovalev_D 88:b5c1d9d338d1 16 unsigned int EventVibro;
Kovalev_D 211:ac8251b067d2 17 unsigned int MODFlag=0;
Kovalev_D 197:7a05523bf588 18 unsigned int Time250Hz;
Kovalev_D 197:7a05523bf588 19 unsigned int Event250Hz;
Kovalev_D 197:7a05523bf588 20
Kovalev_D 124:9ae09249f842 21 unsigned int Time100K;
Kovalev_D 88:b5c1d9d338d1 22 unsigned int Time1K;
Kovalev_D 214:4c70e452c491 23 unsigned int Time1250Hz;
Kovalev_D 209:224e7331a061 24 unsigned int Time2K;
Kovalev_D 124:9ae09249f842 25 unsigned int Time500Hz;
Kovalev_D 209:224e7331a061 26 unsigned int Time250Hz;
Kovalev_D 88:b5c1d9d338d1 27 unsigned int Time1Hz;
Kovalev_D 208:19150d2b528f 28 unsigned int Time100Hz;
Kovalev_D 88:b5c1d9d338d1 29 unsigned int Clock1Hz;
Kovalev_D 86:398da56ef751 30 unsigned int ShiftD;
Kovalev_D 86:398da56ef751 31 unsigned int ShiftL;
Kovalev_D 215:b58b887fd367 32
Kovalev_D 215:b58b887fd367 33
Kovalev_D 215:b58b887fd367 34
Kovalev_D 215:b58b887fd367 35
Kovalev_D 215:b58b887fd367 36
Kovalev_D 215:b58b887fd367 37 int BuffADC_1Point [600];
Kovalev_D 215:b58b887fd367 38 int BuffADC_64Point [100];
Kovalev_D 215:b58b887fd367 39 int BuffADC_16Point [100];
Kovalev_D 215:b58b887fd367 40 int BuffADC_32PointD [100];
Kovalev_D 215:b58b887fd367 41
Kovalev_D 215:b58b887fd367 42 int Buff_Restored_Mod [100];
Kovalev_D 215:b58b887fd367 43 int Buff_PLC_Eror [100];
Kovalev_D 215:b58b887fd367 44 int BSinMns [100];
Kovalev_D 215:b58b887fd367 45 int BSinPls [100];
Kovalev_D 215:b58b887fd367 46 int ADC_1Point =0;
Kovalev_D 215:b58b887fd367 47 int ADC_32PointD =0;
Kovalev_D 215:b58b887fd367 48 int ADC_64Point =0;
Kovalev_D 215:b58b887fd367 49 int ADC_16Point =0;
Kovalev_D 205:775d54fdf646 50 //unsigned int EventMod;
Kovalev_D 140:1fbf117fc120 51
Kovalev_D 139:1716152517aa 52
Kovalev_D 134:caf4c9cd5052 53 __asm void boot_jump( uint32_t address ){
Kovalev_D 134:caf4c9cd5052 54 LDR SP, [R0] ;Load new stack pointer address
Kovalev_D 134:caf4c9cd5052 55 LDR R0, [R0, #4] ;Load new program counter address
Kovalev_D 134:caf4c9cd5052 56 BX R0
Kovalev_D 134:caf4c9cd5052 57 }
Kovalev_D 134:caf4c9cd5052 58
Kovalev_D 205:775d54fdf646 59 void Param_init(void)
Kovalev_D 205:775d54fdf646 60 {
Kovalev_D 208:19150d2b528f 61 int temp=0;
Kovalev_D 208:19150d2b528f 62
Kovalev_D 205:775d54fdf646 63 InitMOD();
Kovalev_D 206:00341a03e05c 64
Kovalev_D 211:ac8251b067d2 65 Gyro.CuruAngleLog=0;
Kovalev_D 205:775d54fdf646 66 Global_Time = 0;
Kovalev_D 88:b5c1d9d338d1 67 Time_UART = 0;
Kovalev_D 88:b5c1d9d338d1 68 Time_Sec = 0;
Kovalev_D 88:b5c1d9d338d1 69 Time_vibro = 0;
Kovalev_D 214:4c70e452c491 70 Time1250Hz = 0;
Kovalev_D 88:b5c1d9d338d1 71 Time_1kHz = 0;
Kovalev_D 88:b5c1d9d338d1 72 Event1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 73 Event1K = 0;
Kovalev_D 88:b5c1d9d338d1 74 Event100K = 0;
Kovalev_D 88:b5c1d9d338d1 75 EventVibro = 0;
Kovalev_D 88:b5c1d9d338d1 76 Time1K = 0;
Kovalev_D 88:b5c1d9d338d1 77 Time100K = 0;
Kovalev_D 88:b5c1d9d338d1 78 Time1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 79 Clock1Hz = 0;
Kovalev_D 88:b5c1d9d338d1 80 ShiftD = 0;
Kovalev_D 88:b5c1d9d338d1 81 ShiftL = 0;
Kovalev_D 124:9ae09249f842 82 Event500Hz = 0;
Kovalev_D 124:9ae09249f842 83 Time500Hz = 0;
Kovalev_D 215:b58b887fd367 84
Kovalev_D 205:775d54fdf646 85 Temp_AMP64P = 0;
Kovalev_D 215:b58b887fd367 86
Kovalev_D 205:775d54fdf646 87 Gyro.Log = 0;
Kovalev_D 205:775d54fdf646 88 Gyro.LogPLC = 0;
Kovalev_D 205:775d54fdf646 89 Gyro.PLC_Lern = 0;
Kovalev_D 106:250ddd8629c6 90 Gyro.CuruAngle = 0;
Kovalev_D 88:b5c1d9d338d1 91 Pulse_8Point = 0;
Kovalev_D 88:b5c1d9d338d1 92 Pulse_16Point = 0;
Kovalev_D 88:b5c1d9d338d1 93 Pulse_16PointD = 0;
Kovalev_D 88:b5c1d9d338d1 94 Pulse_32Point = 0;
Kovalev_D 209:224e7331a061 95 Gyro.FlashMod = 0;
Kovalev_D 208:19150d2b528f 96
Kovalev_D 205:775d54fdf646 97
Kovalev_D 205:775d54fdf646 98 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 99 ///////////инициализация таймеров////////////
Kovalev_D 205:775d54fdf646 100 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 101 Init_TIM1(TIME_INTERVAL ); //Timer 1: CCLK / 7812 = 12800.819Hz; Vibro: Timer1/32 = 400.025Hz; 10ms???
Kovalev_D 205:775d54fdf646 102 Init_TIM2(); //Timer 2: CCLK / 4 / 250 = 100kHz
Kovalev_D 205:775d54fdf646 103 /////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 104 /////////////инициализация переменных в структ вибро/////////////////
Kovalev_D 206:00341a03e05c 105
Kovalev_D 206:00341a03e05c 106 Gyro.DropDelayGLD = DropDelayGLD_0;//задержка на выдачу 45 микросекунд для любого адреса ГЛД
Kovalev_D 206:00341a03e05c 107 Gyro.PLC_Error2Mode = 1400;
Kovalev_D 206:00341a03e05c 108 Gyro.SOC_Out = 0xDD;
Kovalev_D 209:224e7331a061 109
Kovalev_D 209:224e7331a061 110 Gyro.RgConMod = 1;
Kovalev_D 206:00341a03e05c 111
Kovalev_D 206:00341a03e05c 112 GyroP.Str.ParamMod=0;
Kovalev_D 209:224e7331a061 113
Kovalev_D 209:224e7331a061 114 ReadFlash ();
Kovalev_D 210:b02fa166315d 115 // GyroP.Str.ParamMod=0;
Kovalev_D 208:19150d2b528f 116 if(GyroP.Str.ParamMod)
Kovalev_D 211:ac8251b067d2 117 {
Kovalev_D 211:ac8251b067d2 118
Kovalev_D 211:ac8251b067d2 119 Gyro.PLC_Start = 0x7fff+GyroP.Str.PLC_Start;
Kovalev_D 211:ac8251b067d2 120 Gyro.DownTreshold = 0x7fff+GyroP.Str.DownTreshold; //27
Kovalev_D 211:ac8251b067d2 121 Gyro.HighTreshold = 0x7fff+GyroP.Str.HighTreshold;
Kovalev_D 211:ac8251b067d2 122 Gyro.PLCDelay = GyroP.Str.PLCDelay/10;
Kovalev_D 211:ac8251b067d2 123 Gyro.ResetLevelCool = 0x7fff+GyroP.Str.ResetLevelCool; //105
Kovalev_D 211:ac8251b067d2 124 Gyro.ResetLevelHeat = 0x7fff+GyroP.Str.ResetLevelHeat;
Kovalev_D 211:ac8251b067d2 125 Gyro.HFO_Gain = GyroP.Str.HFO_Gain;
Kovalev_D 211:ac8251b067d2 126 Gyro.HFO_ref = (unsigned int)(GyroP.Str.HFO_ref)*0.82;
Kovalev_D 211:ac8251b067d2 127 Gyro.LG_Type = GyroP.Str.LG_Type;
Kovalev_D 208:19150d2b528f 128 Gyro.My_Addres = GyroP.Str.My_Addres; // Gyro.My_Addres = 0;
Kovalev_D 209:224e7331a061 129 Gyro.GLD_Serial = GyroP.Str.GLD_Serial;
Kovalev_D 209:224e7331a061 130 Gyro.FrqHZ = (7680000/GyroP.Str.FrqHZ);
Kovalev_D 209:224e7331a061 131 Gyro.Frq = ((7680000/GyroP.Str.FrqHZ)<<16);
Kovalev_D 209:224e7331a061 132 Gyro.FrqHZmin = ((7680000/GyroP.Str.FrqHZmin)<<16);
Kovalev_D 209:224e7331a061 133 Gyro.FrqHZmax = ((7680000/GyroP.Str.FrqHZmax)<<16);
Kovalev_D 208:19150d2b528f 134 Gyro.FrqChengSpeed = GyroP.Str.FrqChengSpeed;
Kovalev_D 208:19150d2b528f 135 Gyro.PLC_Gain = GyroP.Str.PLC_Gain;
Kovalev_D 208:19150d2b528f 136 Gyro.PLC_Phase = GyroP.Str.PLC_Phase;
Kovalev_D 208:19150d2b528f 137 Gyro.ModAmp = GyroP.Str.ModAmp;
Kovalev_D 208:19150d2b528f 138 Gyro.FrqPhase = GyroP.Str.FrqPhase;
Kovalev_D 214:4c70e452c491 139 Gyro.AmpPer = 700;//GyroP.Str.AmpPer*100;
Kovalev_D 214:4c70e452c491 140 Gyro.Amp =(GyroP.Str.AmpPer<<17);
Kovalev_D 208:19150d2b528f 141 Gyro.AmpSpeed = GyroP.Str.AmpSpeed;
Kovalev_D 208:19150d2b528f 142 Gyro.AmpPerDel = GyroP.Str.AmpPerDel;
Kovalev_D 208:19150d2b528f 143 temp=((GyroP.Str.VB_Fdf_Hi<<16) | GyroP.Str.VB_Fdf_Lo);
Kovalev_D 210:b02fa166315d 144 temp=temp*20;
Kovalev_D 208:19150d2b528f 145 Gyro.AmpTarget=(unsigned int)(temp);
Kovalev_D 208:19150d2b528f 146 Gyro.AmpPerMin = GyroP.Str.AmpPerMin;
Kovalev_D 208:19150d2b528f 147 Gyro.AmpPerMax = GyroP.Str.AmpPerMax;
Kovalev_D 208:19150d2b528f 148 Gyro.AmpMin = GyroP.Str.AmpMin;
Kovalev_D 208:19150d2b528f 149 Gyro.AmpTD = GyroP.Str.AmpTD;
Kovalev_D 214:4c70e452c491 150 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 151 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 152 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 153 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 154 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 155 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 156 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 157 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 211:ac8251b067d2 158 if(Gyro.LG_Type==1){
Kovalev_D 211:ac8251b067d2 159 Gyro.HFO_Max=((int)(GyroP.Str.DAC_current_Work*0.67)-2000);
Kovalev_D 211:ac8251b067d2 160 Gyro.HFO_Min=((int)(GyroP.Str.DAC_current_Start*0.67)-2000);
Kovalev_D 211:ac8251b067d2 161
Kovalev_D 211:ac8251b067d2 162 }
Kovalev_D 211:ac8251b067d2 163 else Spi.DAC_A = ((((int)(GyroP.Str.DAC_current_Work+0x7fff) & 0xffff)+22544)*0.65);
Kovalev_D 209:224e7331a061 164 Gyro.DacIn = GyroP.Str.DAC_current_Work;
Kovalev_D 208:19150d2b528f 165 // Gyro.TermoNKU = GyroP.Str.TermoNKU<<2;
Kovalev_D 209:224e7331a061 166 Gyro.Firmware_Version = 0x11;
Kovalev_D 208:19150d2b528f 167 // Spi.DAC_A = GyroP.Str.DAC_A;
Kovalev_D 209:224e7331a061 168 // Spi.DAC_B = GyroP.Str.DAC_B;
Kovalev_D 208:19150d2b528f 169 Gyro.Gain_Sin = GyroP.Str.Gain_Sin;
Kovalev_D 208:19150d2b528f 170 Gyro.Gain_Cos = GyroP.Str.Gain_Cos;
Kovalev_D 208:19150d2b528f 171 Out_G_photo(Gyro.Gain_Sin, Gyro.Gain_Cos);
Kovalev_D 206:00341a03e05c 172 }
Kovalev_D 206:00341a03e05c 173 else
Kovalev_D 206:00341a03e05c 174 {
Kovalev_D 211:ac8251b067d2 175 Gyro.DownTreshold = GyroP.Str.DownTreshold; //27
Kovalev_D 211:ac8251b067d2 176 Gyro.HighTreshold = GyroP.Str.HighTreshold;
Kovalev_D 211:ac8251b067d2 177 Gyro.PLCDelay = 30000;
Kovalev_D 211:ac8251b067d2 178 Gyro.ResetLevelCool = 56000; //105
Kovalev_D 211:ac8251b067d2 179 Gyro.ResetLevelHeat = 15000;
Kovalev_D 211:ac8251b067d2 180 Gyro.HFO_ref = 13000;
Kovalev_D 211:ac8251b067d2 181 Gyro.LG_Type = 0;
Kovalev_D 208:19150d2b528f 182 Gyro.PLC_Phase = 3;
Kovalev_D 208:19150d2b528f 183 Gyro.PLC_Gain = 3;
Kovalev_D 208:19150d2b528f 184 Gyro.FrqPhase = 8;
Kovalev_D 207:d1ce992f5d17 185 Gyro.FrqHZ = 403;
Kovalev_D 206:00341a03e05c 186 Gyro.Frq = Gyro.FrqHZ<<16;
Kovalev_D 206:00341a03e05c 187 Gyro.FrqHZmin = 350<<16;
Kovalev_D 206:00341a03e05c 188 Gyro.FrqHZmax = 450<<16;
Kovalev_D 206:00341a03e05c 189 Gyro.FrqChengSpeed = 100;
Kovalev_D 206:00341a03e05c 190 Gyro.ModAmp = 250;
Kovalev_D 208:19150d2b528f 191 Gyro.AmpPer = 20;
Kovalev_D 207:d1ce992f5d17 192 Gyro.AmpPerMin = 2;
Kovalev_D 206:00341a03e05c 193 Gyro.AmpPerMax = 90;
Kovalev_D 206:00341a03e05c 194 Gyro.AmpSpeed = 1;
Kovalev_D 207:d1ce992f5d17 195 Gyro.AmpPerDel = 3;
Kovalev_D 208:19150d2b528f 196 Gyro.AmpTarget = 5500;// целевая амплитуда ВП
Kovalev_D 208:19150d2b528f 197 Gyro.Amp = 20*65535;
Kovalev_D 207:d1ce992f5d17 198 Gyro.AmpMin = 20;// минимальное значение AmpT;5
Kovalev_D 208:19150d2b528f 199 Gyro.AmpTD = 20;////////////////////////////////////////////////////////
Kovalev_D 206:00341a03e05c 200 Gyro.TermoNKU = 44700;//48824*0,0061-273=25 С°
Kovalev_D 211:ac8251b067d2 201 Spi.DAC_B = Gyro.PLC_Start;
Kovalev_D 206:00341a03e05c 202 Gyro.PLC_Error2Mode = 1400; //для записи мод
Kovalev_D 207:d1ce992f5d17 203 Gyro.Gain_Sin = 175;
Kovalev_D 207:d1ce992f5d17 204 Gyro.Gain_Cos = 215;
Kovalev_D 209:224e7331a061 205 Gyro.Firmware_Version = 0x11; //версия программы
Kovalev_D 205:775d54fdf646 206 Gyro.GLD_Serial = 123; //серийный номер
Kovalev_D 182:ebcd2bc3be8f 207 Gyro.My_Addres = 0; //адрес глд
Kovalev_D 208:19150d2b528f 208 Gyro.Tmp_OffsetT4 = 0;
Kovalev_D 208:19150d2b528f 209 Gyro.Tmp_OffsetT5 = 0;
Kovalev_D 208:19150d2b528f 210 Gyro.Tmp_scaleT4 = 1; //53
Kovalev_D 208:19150d2b528f 211 Gyro.Tmp_scaleT5 = 1;
Kovalev_D 208:19150d2b528f 212
Kovalev_D 208:19150d2b528f 213 Gyro.DAC_current_Work =50000; //3
Kovalev_D 208:19150d2b528f 214 Gyro.DAC_current_Start =41000;
Kovalev_D 211:ac8251b067d2 215
Kovalev_D 214:4c70e452c491 216
Kovalev_D 214:4c70e452c491 217 F_vib=(103200000<<5)/((Gyro.Frq)>>10);//периуд вибро.
Kovalev_D 214:4c70e452c491 218 T_vibP = F_vib/10000;
Kovalev_D 214:4c70e452c491 219 T_vib_1 = Gyro.AmpPer * T_vibP;
Kovalev_D 214:4c70e452c491 220 T_vib_2 = T_vibP * (10000-Gyro.AmpPer);
Kovalev_D 214:4c70e452c491 221 LPC_MCPWM->LIM1 = F_vib;
Kovalev_D 214:4c70e452c491 222 LPC_MCPWM->LIM2 = F_vib;
Kovalev_D 214:4c70e452c491 223 LPC_MCPWM->MAT1 = T_vib_1;
Kovalev_D 214:4c70e452c491 224 LPC_MCPWM->MAT2 = T_vib_2;
Kovalev_D 206:00341a03e05c 225 }
Kovalev_D 211:ac8251b067d2 226 Spi.DAC_B=Gyro.PLC_Start;
Kovalev_D 188:4c523cc373cc 227 switch(Gyro.My_Addres){//смещение поджига и подсветки в зависимости от адреса ГЛД
Kovalev_D 188:4c523cc373cc 228 case 0:
Kovalev_D 209:224e7331a061 229 Gyro.Discharg = StartDischarg << ShiftStart0;
Kovalev_D 188:4c523cc373cc 230 Gyro.BackLight = StartBackLight << ShiftStart0;
Kovalev_D 188:4c523cc373cc 231 break;
Kovalev_D 188:4c523cc373cc 232 case 1:
Kovalev_D 209:224e7331a061 233 Gyro.Discharg = StartDischarg << ShiftStart1;
Kovalev_D 188:4c523cc373cc 234 Gyro.BackLight = StartBackLight << ShiftStart1;
Kovalev_D 188:4c523cc373cc 235 break;
Kovalev_D 188:4c523cc373cc 236 case 2:
Kovalev_D 209:224e7331a061 237 Gyro.Discharg = StartDischarg << ShiftStart2;
Kovalev_D 188:4c523cc373cc 238 Gyro.BackLight = StartBackLight << ShiftStart2;
Kovalev_D 188:4c523cc373cc 239 break;
Kovalev_D 188:4c523cc373cc 240 case 3:
Kovalev_D 209:224e7331a061 241 Gyro.Discharg = StartDischarg << ShiftStart3;
Kovalev_D 188:4c523cc373cc 242 Gyro.BackLight = StartBackLight << ShiftStart3;
Kovalev_D 188:4c523cc373cc 243 break;
Kovalev_D 205:775d54fdf646 244 }
Kovalev_D 205:775d54fdf646 245
Kovalev_D 88:b5c1d9d338d1 246 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 247 //////инициализация цап_LPC (р0.26 цап выход)////////
Kovalev_D 88:b5c1d9d338d1 248 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 249 LPC_PINCON->PINSEL1 = 0x00200000;
Kovalev_D 88:b5c1d9d338d1 250 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 251 ////////////начальное значение для цап///////////////
Kovalev_D 88:b5c1d9d338d1 252 //////////////////середина шкалы/////////////////////
Kovalev_D 88:b5c1d9d338d1 253 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 254
Kovalev_D 86:398da56ef751 255 ////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 256 /////////////поправочный коэффициент/////////////////
Kovalev_D 86:398da56ef751 257 /////////для цапов (граници +-12.5 вольт)////////////
Kovalev_D 86:398da56ef751 258 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 259 K_DAC=65535.0/(65535.0+(deltaDAC+deltaDAC/2));
Kovalev_D 86:398da56ef751 260 K_DAC=0.8;
Kovalev_D 88:b5c1d9d338d1 261
Kovalev_D 86:398da56ef751 262 /////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 263 /////////////обнуление переменых для/////////////////
Kovalev_D 86:398da56ef751 264 ///////////////переменных энкодера///////////////////
Kovalev_D 86:398da56ef751 265 /////////////////////////////////////////////////////
Kovalev_D 205:775d54fdf646 266 secPuls =0;// переменная для конопки поджига аск глд(временная)
Kovalev_D 112:4a96133a1311 267 Gyro.CaunPlus =0;
Kovalev_D 112:4a96133a1311 268 Gyro.CaunMin =0;
Kovalev_D 88:b5c1d9d338d1 269 Cur_QEI=0;
Kovalev_D 86:398da56ef751 270 Last_QEI=0;
Kovalev_D 205:775d54fdf646 271 }
Kovalev_D 205:775d54fdf646 272
Kovalev_D 205:775d54fdf646 273 void GLD_Init(void)
Kovalev_D 214:4c70e452c491 274 {
Kovalev_D 214:4c70e452c491 275 int Dummy; // инициализация мусорки для очистки буфера приема.
Kovalev_D 214:4c70e452c491 276
Kovalev_D 214:4c70e452c491 277
Kovalev_D 214:4c70e452c491 278
Kovalev_D 214:4c70e452c491 279
Kovalev_D 214:4c70e452c491 280
Kovalev_D 214:4c70e452c491 281
Kovalev_D 86:398da56ef751 282 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 283 /////////////инициализация энкодера//////////////////
Kovalev_D 88:b5c1d9d338d1 284 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 285
Kovalev_D 87:7e575d26d6d0 286 LPC_SC->PCONP |= (1<<18);//0x00040000; включение квадратурного энкодера.
Kovalev_D 170:d099c3025f87 287 LPC_SC->PCLKSEL1 |= 0x00000001; // выбор частоты для кв.э. CLK=103MHz
Kovalev_D 87:7e575d26d6d0 288 LPC_PINCON->PINSEL3 &= ~0x4100;
Kovalev_D 87:7e575d26d6d0 289 LPC_PINCON->PINSEL3 |= 0x4100; //P1.20, p1.23 установить как входы кв.э
Kovalev_D 89:a0d344db227e 290 LPC_PINCON->PINMODE3 |= 0x3C300; //P1.20, p1.23
Kovalev_D 86:398da56ef751 291
Kovalev_D 98:95b8e79f13e1 292
Kovalev_D 87:7e575d26d6d0 293 LPC_QEI->MAXPOS = MAX_QEI_CNT; //LPC_QEI->"регистор максимального положения" = 2147483646
Kovalev_D 89:a0d344db227e 294 LPC_QEI->FILTER = 2; // фильтр( ?? )
Kovalev_D 87:7e575d26d6d0 295 LPC_QEI->CON = 0xF; //сбросить в ноль все счетчики кв.э. (скорость, направление, позицию и тд)
Kovalev_D 214:4c70e452c491 296 LPC_QEI->CONF = (1<<2) |(0<<1); //Quadrature inputs, no inverting,only A pulses are counted
Kovalev_D 87:7e575d26d6d0 297
Kovalev_D 87:7e575d26d6d0 298 LPC_QEI->CLR = 0x1fff; //r. сбросить все прерывания
Kovalev_D 87:7e575d26d6d0 299 LPC_QEI->IEC = 0x1fff; //r. запретить прерывание при изменении направления
Kovalev_D 87:7e575d26d6d0 300
Kovalev_D 98:95b8e79f13e1 301 /*NVIC_SetPriority(QEI_IRQn, 0);
Kovalev_D 98:95b8e79f13e1 302 NVIC_EnableIRQ(QEI_IRQn);*/
Kovalev_D 88:b5c1d9d338d1 303 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 304 //////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 305
Kovalev_D 88:b5c1d9d338d1 306
Kovalev_D 89:a0d344db227e 307 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 308 ///////////////////////I2C////////////////////////////
Kovalev_D 89:a0d344db227e 309 //////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 310
Kovalev_D 89:a0d344db227e 311 LPC_SC->PCONP |= (1 << 19);//включение интерфейса I2C.
Kovalev_D 88:b5c1d9d338d1 312
Kovalev_D 89:a0d344db227e 313 /* set PIO0.27 and PIO0.28 to I2C0 SDA and SCK */
Kovalev_D 89:a0d344db227e 314 /* function to 01 on both SDA and SCK. */
Kovalev_D 89:a0d344db227e 315 LPC_PINCON->PINSEL1 &= ~0x03C00000; //P0.27 - SDA.
Kovalev_D 89:a0d344db227e 316 LPC_PINCON->PINSEL1 |= 0x01400000; //P0.28 - SCK.
Kovalev_D 86:398da56ef751 317
Kovalev_D 89:a0d344db227e 318 // подтверждение Флаг флаг разрешения
Kovalev_D 89:a0d344db227e 319 /*сброс флагоф флага прерывания I2C старта интерфейса I2C */
Kovalev_D 89:a0d344db227e 320 LPC_I2C0->CONCLR = I2CONCLR_AAC | I2CONCLR_SIC | I2CONCLR_STAC | I2CONCLR_I2ENC; // установка микроконтроллера в режим мастера
Kovalev_D 86:398da56ef751 321
Kovalev_D 89:a0d344db227e 322 /*--- Reset registers ---*/
Kovalev_D 89:a0d344db227e 323 LPC_I2C0->SCLL = I2SCLL_SCLL; // - счетчик scl low time period
Kovalev_D 89:a0d344db227e 324 LPC_I2C0->SCLH = I2SCLH_SCLH; // - счетчик scl high time period
Kovalev_D 99:3d8f206ceac2 325
Kovalev_D 99:3d8f206ceac2 326 I2CMasterBuffer[0] = A_ADDRESS;
Kovalev_D 99:3d8f206ceac2 327 I2CMasterBuffer[1] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 328 I2CMasterBuffer[3] = B_ADDRESS;
Kovalev_D 99:3d8f206ceac2 329 I2CMasterBuffer[4] = WRITE_CMD;
Kovalev_D 99:3d8f206ceac2 330
Kovalev_D 89:a0d344db227e 331 LPC_I2C0->CONSET = I2CONSET_I2EN; //включение интерфейса I2C.
Kovalev_D 89:a0d344db227e 332 //////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 333 //////////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 334
Kovalev_D 86:398da56ef751 335
Kovalev_D 86:398da56ef751 336
Kovalev_D 92:c892f0311aa7 337
Kovalev_D 92:c892f0311aa7 338
Kovalev_D 92:c892f0311aa7 339
Kovalev_D 92:c892f0311aa7 340 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 341 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 342 //////////////////////////SPI//////////////////////////
Kovalev_D 92:c892f0311aa7 343 ///////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 344 Dummy = Dummy;
Kovalev_D 92:c892f0311aa7 345
Kovalev_D 92:c892f0311aa7 346 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 92:c892f0311aa7 347 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 92:c892f0311aa7 348
Kovalev_D 92:c892f0311aa7 349 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 92:c892f0311aa7 350 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 92:c892f0311aa7 351 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 92:c892f0311aa7 352
Kovalev_D 92:c892f0311aa7 353 // P0.15~0.18 as SSP0
Kovalev_D 92:c892f0311aa7 354 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 92:c892f0311aa7 355 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 92:c892f0311aa7 356
Kovalev_D 92:c892f0311aa7 357 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 92:c892f0311aa7 358 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 92:c892f0311aa7 359
Kovalev_D 92:c892f0311aa7 360 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 361 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 362
Kovalev_D 92:c892f0311aa7 363 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 364 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 92:c892f0311aa7 365
Kovalev_D 92:c892f0311aa7 366 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 92:c892f0311aa7 367 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 92:c892f0311aa7 368 // формат кадра TI.
Kovalev_D 92:c892f0311aa7 369
Kovalev_D 92:c892f0311aa7 370 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 92:c892f0311aa7 371 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 92:c892f0311aa7 372
Kovalev_D 92:c892f0311aa7 373 /*SSP enable, master mode */
Kovalev_D 92:c892f0311aa7 374 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 92:c892f0311aa7 375 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 190:289514f730ee 376 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 92:c892f0311aa7 377 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 378 Dummy = LPC_SSP0->DR;
Kovalev_D 92:c892f0311aa7 379 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 92:c892f0311aa7 380 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 92:c892f0311aa7 381 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 92:c892f0311aa7 382
Kovalev_D 92:c892f0311aa7 383 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 384 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 385 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 386 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 92:c892f0311aa7 387 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 388 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 389 /////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 92:c892f0311aa7 390
Kovalev_D 92:c892f0311aa7 391
Kovalev_D 92:c892f0311aa7 392
Kovalev_D 92:c892f0311aa7 393
Kovalev_D 86:398da56ef751 394 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 395 /////////////////инициализация ног///////////////////
Kovalev_D 86:398da56ef751 396 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 397
Kovalev_D 89:a0d344db227e 398 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 399 Gyro.PinRegOld = 0xffffffff;
Kovalev_D 88:b5c1d9d338d1 400 Gyro.PinReg = 0; // всЁ выключенно
Kovalev_D 88:b5c1d9d338d1 401 PinCheng();
Kovalev_D 89:a0d344db227e 402 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 403 Gyro.ModeOut=0;
Kovalev_D 87:7e575d26d6d0 404 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 405 //////////////отладочный светодиод///////////////////
Kovalev_D 87:7e575d26d6d0 406 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 407
Kovalev_D 98:95b8e79f13e1 408 LPC_PINCON->PINSEL0 &= ~(0x00<<28);
Kovalev_D 214:4c70e452c491 409 LPC_PINCON->PINSEL0 |= (0x00<<28);
Kovalev_D 190:289514f730ee 410 LPC_PINCON->PINMODE0 |= (0x3<<28);
Kovalev_D 190:289514f730ee 411 LPC_GPIO1->FIODIR |= (1<<30);
Kovalev_D 87:7e575d26d6d0 412 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 413 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 414 NVIC_EnableIRQ(EINT3_IRQn);
Kovalev_D 193:a0fe8bfc97e4 415 // LPC_GPIOINT->IO0IntEnF |= (1<<1); /* enable falling edge irq */
Kovalev_D 193:a0fe8bfc97e4 416 LPC_GPIOINT->IO0IntEnR |= (1<<1); /* enable rasing edge irq */
Kovalev_D 87:7e575d26d6d0 417 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 418 ////////////////управление уартом////////////////////
Kovalev_D 87:7e575d26d6d0 419 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 420 LPC_GPIO2->FIODIR |= (1<<7);//направление ноги uart enable
Kovalev_D 87:7e575d26d6d0 421 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 422 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 423
Kovalev_D 88:b5c1d9d338d1 424
Kovalev_D 88:b5c1d9d338d1 425
Kovalev_D 87:7e575d26d6d0 426 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 427 ///////////////////////поджиг////////////////////////
Kovalev_D 88:b5c1d9d338d1 428 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 429 LPC_PINCON->PINSEL0 &= ~(3<<8); //e. P0.4 is GPIO pin (запись ( 00 ) в 9:8 бит PISEL0 выбор P0.4 как GPIO)
Kovalev_D 98:95b8e79f13e1 430 LPC_PINCON->PINMODE0 |= (3<<8); //e. P0.4 is GPIO pin (запись ( 11 ) в 9:8 бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 431 LPC_GPIO0->FIODIR |= (1<<4); //e. P0.4 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.4 как выход)
Kovalev_D 87:7e575d26d6d0 432 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 433 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 434
Kovalev_D 88:b5c1d9d338d1 435
Kovalev_D 88:b5c1d9d338d1 436
Kovalev_D 87:7e575d26d6d0 437 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 438 /////////////////////вибро 1/////////////////////////
Kovalev_D 87:7e575d26d6d0 439 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 440 LPC_PINCON->PINSEL3 &= ~(0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 98:95b8e79f13e1 441 LPC_PINCON->PINSEL3 |= (0x00<<18); //e. P1.25 is GPIO pin
Kovalev_D 87:7e575d26d6d0 442 LPC_PINCON->PINMODE3 |= (3<<18); //e. P1.25 (включениe подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 443 LPC_GPIO1->FIODIR |= (1<<25); //e. P0.5 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 444 LPC_GPIO1->FIOCLR |= (1<<25);
Kovalev_D 88:b5c1d9d338d1 445 //////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 446 //////////////////////вибро 2/////////////////////////
Kovalev_D 89:a0d344db227e 447 //////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 448 LPC_PINCON->PINSEL3 &= ~(0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 98:95b8e79f13e1 449 LPC_PINCON->PINSEL3 |= (0x00<<24); //e. P1.28 is GPIO pin
Kovalev_D 87:7e575d26d6d0 450 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 451 LPC_GPIO1->FIODIR |= (1<<28); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 452 LPC_GPIO1->FIOCLR |= (1<<28);
Kovalev_D 87:7e575d26d6d0 453 /////////////////////////////////////////////////////
Kovalev_D 87:7e575d26d6d0 454 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 455
Kovalev_D 88:b5c1d9d338d1 456
Kovalev_D 88:b5c1d9d338d1 457
Kovalev_D 87:7e575d26d6d0 458 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 459 /////////////инициализация подсветки/////////////////
Kovalev_D 87:7e575d26d6d0 460 /////////////////////////////////////////////////////
Kovalev_D 98:95b8e79f13e1 461 LPC_PINCON->PINSEL2 &= ~(0x00<<24);
Kovalev_D 98:95b8e79f13e1 462 LPC_PINCON->PINSEL2 |= (0x00<<24); //e. P2.12 is GPIO pin
Kovalev_D 87:7e575d26d6d0 463 LPC_PINCON->PINMODE3 |= (3<<24); //e. P1.28 is GPIO pin (запись ( 11 ) в бит PINMODE0 "для включения подтягивающего резистора")
Kovalev_D 87:7e575d26d6d0 464 LPC_GPIO2->FIODIR |= (1<<12); //e. P1.28 is output (запись ( 1 ) в 5 бит FIODIR выбор P0.5 как выход)
Kovalev_D 87:7e575d26d6d0 465 LPC_GPIO2->FIOCLR |= (1<<12);
Kovalev_D 88:b5c1d9d338d1 466 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 467 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 468
Kovalev_D 88:b5c1d9d338d1 469
Kovalev_D 88:b5c1d9d338d1 470 ///////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 471 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 472 ///////////////////включение таймеров//////////////////
Kovalev_D 89:a0d344db227e 473 ///////////////////////////////////////////////////////
Kovalev_D 86:398da56ef751 474 enable_timer1();
Kovalev_D 86:398da56ef751 475 enable_timer2();
Kovalev_D 89:a0d344db227e 476 ///////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 477
Kovalev_D 89:a0d344db227e 478 //////////////////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 479 // LPC_GPIO0->FIOCLR = (1<<5);/////////////отключение поджига
Kovalev_D 90:d9b6a4bc5065 480
Kovalev_D 90:d9b6a4bc5065 481
Kovalev_D 90:d9b6a4bc5065 482
Kovalev_D 90:d9b6a4bc5065 483 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 484 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 485 //////////////////////////SPI//////////////////////////
Kovalev_D 90:d9b6a4bc5065 486 ///////////////////////////////////////////////////////
Kovalev_D 90:d9b6a4bc5065 487 Dummy = Dummy;
Kovalev_D 90:d9b6a4bc5065 488
Kovalev_D 90:d9b6a4bc5065 489 /* Enable AHB clock to the SSP0, SSP1 */
Kovalev_D 90:d9b6a4bc5065 490 LPC_SC->PCONP |= (0x1<<21); // включение SSP0.
Kovalev_D 90:d9b6a4bc5065 491
Kovalev_D 90:d9b6a4bc5065 492 /* выбор частоты для переферии используем по умолчания с делителем основной на 4 */
Kovalev_D 90:d9b6a4bc5065 493 LPC_SC->PCLKSEL1 &= ~(0x3<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/8
Kovalev_D 90:d9b6a4bc5065 494 LPC_SC->PCLKSEL1 |= (0x0<<10); //00 CLK/4; 1 CLK; 2 CLK/2; 3 CLK/
Kovalev_D 90:d9b6a4bc5065 495
Kovalev_D 90:d9b6a4bc5065 496 // P0.15~0.18 as SSP0
Kovalev_D 90:d9b6a4bc5065 497 LPC_PINCON->PINSEL0 &= ~(0x3UL<<30); //установит Р 0.15
Kovalev_D 90:d9b6a4bc5065 498 LPC_PINCON->PINSEL0 |= (0x2UL<<30); //частота для синхронизациии Master - slave
Kovalev_D 90:d9b6a4bc5065 499
Kovalev_D 90:d9b6a4bc5065 500 LPC_PINCON->PINSEL1 &= ~((0x3<<0)|(0x3<<2)|(0x3<<4)); // устанивоить Р 0.17 и Р 0.18
Kovalev_D 90:d9b6a4bc5065 501 LPC_PINCON->PINSEL1 |= ((0x2<<2)|(0x2<<4)); // как MISO0 и MOSI0
Kovalev_D 90:d9b6a4bc5065 502
Kovalev_D 90:d9b6a4bc5065 503 LPC_PINCON->PINMODE0 &= ~(0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 504 LPC_PINCON->PINMODE0 |= (0x3UL<<30);// ? установление на Р 0.15 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 505
Kovalev_D 90:d9b6a4bc5065 506 LPC_PINCON->PINMODE1 &= ~((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 507 LPC_PINCON->PINMODE1 |= ((0x3<<2)|(0x3<<4));// ? установление на Р 0.17 и Р 0.18 режима On-Chip pull-down resistor enabled
Kovalev_D 90:d9b6a4bc5065 508
Kovalev_D 90:d9b6a4bc5065 509 LPC_SSP0->CR0 = ((3<<8)|(0<<7)|(0<<4) |0xF); // (0xF)-установление DSS(Data sise select) в 16-битный формат, (3<<8 scr - выбор частоты),
Kovalev_D 90:d9b6a4bc5065 510 // низкий уровень линии тактирования между кадрами, прикрепление передачи к первому нарастанию тактового мигнала
Kovalev_D 90:d9b6a4bc5065 511 // формат кадра TI.
Kovalev_D 90:d9b6a4bc5065 512
Kovalev_D 90:d9b6a4bc5065 513 /* SSPCPSR clock prescale register, master mode, minimum divisor is 0x02 */
Kovalev_D 90:d9b6a4bc5065 514 LPC_SSP0->CPSR = 0x2; // freq = CLK/(cpsdvr*(scr+1)) = 1.6 MHz
Kovalev_D 90:d9b6a4bc5065 515
Kovalev_D 90:d9b6a4bc5065 516 /*SSP enable, master mode */
Kovalev_D 90:d9b6a4bc5065 517 LPC_SSP0->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 518 // LPC_SSP1->CR1 = SSPCR1_SSE;
Kovalev_D 90:d9b6a4bc5065 519 while (LPC_SSP0->SR & SSP_BUSY);
Kovalev_D 170:d099c3025f87 520 while (LPC_SSP0->SR & RX_SSP_notEMPT) /* clear the RxFIFO */
Kovalev_D 90:d9b6a4bc5065 521 Dummy = LPC_SSP0->DR;
Kovalev_D 90:d9b6a4bc5065 522 //all pins after reset is in GPIO mode, so CS pins needn't to configure
Kovalev_D 90:d9b6a4bc5065 523 LPC_GPIO0->FIODIR |= (1<<16); // P0.16 defined as CS for ADC
Kovalev_D 90:d9b6a4bc5065 524 LPC_GPIO0->FIOSET |= (1<<16); // set CS for ADC
Kovalev_D 90:d9b6a4bc5065 525
Kovalev_D 92:c892f0311aa7 526 LPC_GPIO0->FIODIR |= (1<<23); // P defined as CS for DAC
Kovalev_D 92:c892f0311aa7 527 LPC_GPIO0->FIOCLR |= (1<<23); // set CS for DAC
Kovalev_D 92:c892f0311aa7 528 while (LPC_SSP1->SR & RX_SSP_notEMPT)
Kovalev_D 92:c892f0311aa7 529 Dummy = LPC_SSP1->DR; /* clear the RxFIFO */
Kovalev_D 205:775d54fdf646 530 //Gyro=GyroP.str;
Kovalev_D 205:775d54fdf646 531 //Gyro = (*(struct Gyro*)(&GyroP.Str));
Kovalev_D 90:d9b6a4bc5065 532
Kovalev_D 86:398da56ef751 533 }
igor_v 13:e2a1d18677b8 534
igor_v 0:8ad47e2b6f00 535
igor_v 0:8ad47e2b6f00 536
igor_v 0:8ad47e2b6f00 537
igor_v 0:8ad47e2b6f00 538